//
// The MIT License (MIT)
//
// Copyright (c) 2019 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#ifndef LIVOX_ROS_DRIVER_VEHICLE_THREAD_H_
#define LIVOX_ROS_DRIVER_VEHICLE_THREAD_H_

#include <thread>
#include <mutex>
#include <memory>
#include <atomic>

namespace livox_ros {

class VehicleLidarThread {
 public:
  VehicleLidarThread();
  ~VehicleLidarThread() {}

  bool Start();
  void Destory();
 private:
  void VehicleLidarWorkModeControl();

  void Quit() { is_start_.store(true); }
  void Join();
 private:
  std::thread thread_;
  std::atomic_bool is_start_;
};

} // livox_ros

#endif // LIVOX_ROS_DRIVER_VEHICLE_THREAD_H_
